version: 65.00
glider: 23
mission: 1
dive: 337
start: 10 22 105 12 30 19
data:
$ID,23
$MISSION,1
$DIVE,337
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0.0001163584
$T_DIVE,413
$T_MISSION,495
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,1
$D_OFFGRID,1010
$CAPTURING,1
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52362
$KALMAN_USE,2
$KALMAN_Q,1000
$KALMAN_R,100
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-06
$SM_CC,320
$N_FILEKB,4
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-89.060562
$T_RSLEEP,2
$PITCH_MIN,294
$PITCH_MAX,3611
$C_PITCH,2515
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,100
$ROLL_MIN,208
$ROLL_MAX,3867
$C_ROLL_DIVE,2144
$C_ROLL_CLIMB,2012
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,550
$VBD_MIN,500
$VBD_MAX,3664
$C_VBD,2717
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-29.113598
$PRESSURE_SLOPE,0.0001163668
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,15
$ALTIM_TOP_PING_RANGE,10
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,37
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$COMPASS_DEVICE,1
$PHONE_DEVICE,0
$GPS_DEVICE,0
$RAFOS_DEVICE,-1
$XPDR_DEVICE,0
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004414265
$SEABIRD_T_H,0.00064973778
$SEABIRD_T_I,2.7798471e-05
$SEABIRD_T_J,3.1719046e-06
$SEABIRD_C_G,-10.522164
$SEABIRD_C_H,1.1897064
$SEABIRD_C_I,-0.0027912261
$SEABIRD_C_J,0.00032908627
$GPS1,122431,5738.038,-14209.835,42,1.6,48
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-51.3
$GPS2,123003,5738.124,-14209.761,16,1.6,16,23.2
$SPEED_LIMITS,0.138,0.204
$TGT_NAME,PICKUP
$TGT_LATLONG,5900.000,-14630.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,278.2,290880,-16.6,-7.990
$D_GRID,1010
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$GC,18,-1.17,-121.7,0.0,0.0,0,103,0.00,0.00,-82.43,0.000,2,0.000,0.000,293,2146,2915
$GC,104,-1.17,-121.7,4.9,-10.0,8,127,11.52,2.78,-5.45,0.000,4,0.171,0.064,2255,733,3213
$GC,255,-1.17,-121.7,39.3,-17.1,22,262,0.00,2.67,0.00,0.000,6,0.000,0.035,2254,2140,3216
$GC,566,-1.17,-121.7,83.6,-13.6,41,575,0.00,2.72,0.00,0.000,4,0.000,0.052,2254,733,3221
$GC,621,-1.17,-121.7,92.1,-14.6,43,626,0.00,2.65,0.00,0.000,6,0.000,0.035,2254,2145,3222
$GC,932,-1.17,-121.7,131.8,-12.3,59,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2144,3224
$GC,1249,-1.17,-121.7,170.9,-12.3,71,1257,0.00,2.75,0.00,0.000,4,0.000,0.053,2254,733,3225
$GC,1285,-1.17,-121.7,175.3,-11.8,71,1289,0.00,2.65,0.00,0.000,6,0.000,0.037,2254,2141,3225
$GC,1611,-1.17,-121.7,213.6,-11.6,80,1619,0.00,2.75,0.00,0.000,4,0.000,0.053,2254,729,3225
$GC,1676,-1.17,-121.7,220.8,-10.5,81,1685,0.00,2.67,0.00,0.000,6,0.000,0.038,2254,2143,3225
$GC,2013,-1.17,-121.7,255.3,-10.2,90,2021,0.00,2.75,0.00,0.000,4,0.000,0.054,2254,733,3226
$GC,2063,-1.17,-121.7,260.6,-10.7,91,2072,0.00,2.67,0.00,0.000,6,0.000,0.039,2254,2145,3226
$GC,2375,-1.17,-121.7,291.6,-9.8,99,2384,0.00,2.75,0.00,0.000,4,0.000,0.054,2254,732,3226
$GC,2428,-1.17,-121.7,296.8,-9.8,100,2437,0.00,2.67,0.00,0.000,6,0.000,0.039,2254,2144,3226
$GC,2819,-1.17,-121.7,334.8,-9.7,104,2828,0.00,2.75,0.00,0.000,4,0.000,0.054,2254,733,3226
$GC,2885,-1.17,-121.7,341.8,-11.0,104,2894,0.00,2.67,0.00,0.000,6,0.000,0.041,2254,2143,3226
$GC,3302,-1.17,-121.7,384.8,-10.3,107,3310,0.00,2.75,0.00,0.000,4,0.000,0.055,2254,733,3226
$GC,3384,-1.17,-121.7,393.4,-10.4,107,3393,0.00,2.67,0.00,0.000,6,0.000,0.041,2254,2144,3226
$GC,3790,-1.17,-121.7,433.5,-9.8,110,3799,0.00,2.75,0.00,0.000,4,0.000,0.057,2254,733,3226
$GC,3866,-1.17,-121.7,441.2,-10.3,110,3875,0.00,2.67,0.00,0.000,6,0.000,0.042,2254,2143,3226
$GC,4273,-1.17,-121.7,479.1,-9.3,113,4281,0.00,2.78,0.00,0.000,4,0.000,0.058,2254,730,3226
$GC,4353,-1.17,-121.7,486.8,-9.5,113,4362,0.00,2.70,0.00,0.000,6,0.000,0.043,2254,2144,3226
$GC,4755,-1.17,-121.7,523.5,-9.1,116,4763,0.00,2.78,0.00,0.000,4,0.000,0.058,2254,734,3225
$GC,4822,-1.17,-121.7,529.6,-9.2,116,4831,0.00,2.70,0.00,0.000,6,0.000,0.044,2254,2149,3225
$GC,5244,-1.17,-121.7,567.3,-9.0,119,5252,0.00,2.78,0.00,0.000,4,0.000,0.059,2254,733,3226
$GC,5294,-1.17,-121.7,572.2,-8.8,119,5303,0.00,2.70,0.00,0.000,6,0.000,0.044,2254,2146,3226
$GC,5727,-1.17,-121.7,610.8,-8.9,122,5736,0.00,2.78,0.00,0.000,4,0.000,0.060,2254,734,3226
$GC,5808,-1.17,-121.7,618.6,-9.9,122,5817,0.00,2.70,0.00,0.000,6,0.000,0.044,2254,2143,3226
$GC,6210,-1.17,-121.7,655.5,-9.2,125,6218,0.00,2.80,0.00,0.000,4,0.000,0.062,2254,731,3225
$GC,6262,-1.17,-121.7,660.3,-9.4,125,6271,0.00,2.70,0.00,0.000,6,0.000,0.045,2254,2143,3226
$GC,6697,-1.17,-121.7,698.1,-8.7,128,6705,0.00,2.78,0.00,0.000,4,0.000,0.064,2254,736,3226
$GC,6765,-1.17,-121.7,704.1,-8.8,128,6774,0.00,2.70,0.00,0.000,6,0.000,0.046,2253,2145,3226
$GC,7182,-1.17,-121.7,739.0,-8.3,131,7190,0.00,2.80,0.00,0.000,4,0.000,0.064,2254,736,3226
$GC,7247,-1.17,-121.7,744.7,-8.5,131,7256,0.00,2.70,0.00,0.000,6,0.000,0.047,2254,2144,3225
$GC,7664,-1.17,-121.7,778.9,-8.2,134,7673,0.00,2.80,0.00,0.000,4,0.000,0.064,2254,735,3225
$GC,7741,-1.17,-121.7,785.0,-8.0,134,7750,0.00,2.70,0.00,0.000,6,0.000,0.046,2254,2144,3225
$GC,8153,-1.17,-121.7,817.6,-8.0,137,8161,0.00,2.78,0.00,0.000,4,0.000,0.063,2254,736,3225
$GC,8228,-1.17,-121.7,824.5,-9.6,137,8237,0.00,2.70,0.00,0.000,6,0.000,0.045,2253,2145,3225
$GC,8635,-1.17,-121.7,859.8,-8.7,140,8643,0.00,2.80,0.00,0.000,4,0.000,0.063,2254,733,3225
$GC,8702,-1.17,-121.7,865.9,-9.9,140,8711,0.00,2.70,0.00,0.000,6,0.000,0.045,2254,2145,3225
$GC,9119,-1.17,-121.7,902.2,-8.7,143,9127,0.00,2.80,0.00,0.000,4,0.000,0.063,2254,730,3224
$GC,9191,-1.17,-121.7,908.9,-9.8,143,9200,0.00,2.70,0.00,0.000,6,0.000,0.045,2254,2147,3224
$GC,9608,-1.17,-121.7,944.8,-8.6,146,9616,0.00,2.78,0.00,0.000,4,0.000,0.063,2254,734,3224
$GC,9688,-1.17,-121.7,952.3,-10.2,146,9697,0.00,2.70,0.00,0.000,6,0.000,0.044,2254,2149,3224
$GC,10090,-1.17,-121.7,986.0,-8.4,149,10098,0.00,2.80,0.00,0.000,4,0.000,0.063,2254,735,3223
$GC,10145,-0.31,0.0,990.3,9.0,149,10256,0.93,0.00,102.60,1.352,6,0.103,0.000,2440,2145,2717
$GC,10261,1.17,121.7,994.3,3.2,150,10372,1.58,2.35,103.70,1.347,4,0.080,0.067,2768,3421,2221
$GC,10517,1.17,125.0,982.3,7.8,151,10527,0.00,2.47,2.55,1.382,6,0.000,0.044,2768,2011,2208
$GC,10915,1.18,127.2,951.3,7.9,154,10924,0.00,2.62,1.55,1.349,4,0.000,0.062,2768,3421,2198
$GC,10980,1.18,127.2,945.1,9.2,154,10989,0.00,2.47,0.00,0.000,6,0.000,0.046,2768,2014,2198
$GC,11397,1.18,127.2,910.6,8.2,157,11406,0.00,2.55,0.00,0.000,4,0.000,0.063,2768,3425,2199
$GC,11463,1.18,127.2,904.9,8.6,157,11472,0.00,2.47,0.00,0.000,6,0.000,0.046,2768,2012,2199
$GC,11880,1.18,132.3,872.5,7.8,160,11889,0.00,2.60,4.30,1.332,4,0.000,0.063,2768,3428,2177
$GC,11951,1.18,132.3,866.9,8.9,160,11959,0.00,2.47,0.00,0.000,6,0.000,0.047,2768,2013,2177
$GC,12368,1.18,140.5,834.8,7.6,163,12382,0.00,2.65,6.80,1.320,4,0.000,0.063,2768,3422,2144
$GC,12443,1.19,140.5,828.6,8.2,163,12452,0.00,2.47,0.00,0.000,6,0.000,0.047,2768,2011,2144
$GC,12850,1.19,152.9,798.1,7.4,166,13009,0.00,0.00,9.80,1.295,6,0.000,0.000,2768,2011,2093
$GC,13330,1.21,159.3,760.5,7.7,169,13489,0.00,0.00,5.15,1.295,6,0.000,0.000,2768,2011,2067
$GC,13811,1.21,160.2,722.4,8.0,172,13819,0.00,2.55,0.00,0.000,4,0.000,0.064,2768,3422,2067
$GC,13853,1.21,160.2,718.9,8.4,172,13861,0.00,2.45,0.00,0.000,6,0.000,0.047,2768,2012,2067
$GC,14295,1.21,162.4,684.2,7.9,175,14304,0.00,2.62,2.40,1.285,4,0.000,0.064,2768,3425,2055
$GC,14346,1.22,162.4,680.2,8.1,175,14354,0.00,2.47,0.00,0.000,6,0.000,0.047,2768,2009,2055
$GC,14783,1.22,162.4,644.9,8.0,178,14941,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2008,2055
$GC,15266,1.22,172.7,609.5,7.5,181,15280,0.00,2.62,8.48,1.214,4,0.000,0.063,2768,3414,2013
$GC,15362,1.23,178.6,601.5,7.7,181,15376,0.00,2.45,4.97,1.226,6,0.000,0.047,2768,2012,1988
$GC,15748,1.23,181.1,571.0,7.9,184,15907,0.00,0.00,1.58,1.223,6,0.000,0.000,2768,2012,1978
$GC,16232,1.24,187.8,534.4,7.7,187,16246,0.00,2.58,5.18,1.167,4,0.000,0.061,2768,3423,1952
$GC,16302,1.24,192.1,528.4,7.8,187,16312,0.00,2.47,3.53,1.222,6,0.000,0.046,2768,2008,1932
$GC,16714,1.25,194.1,496.1,7.9,190,16872,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2008,1933
$GC,17194,1.25,201.8,459.6,7.7,193,17353,0.00,0.00,7.47,1.147,6,0.000,0.000,2768,2008,1894
$GC,17675,1.26,203.1,421.0,7.9,196,17833,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2008,1894
$GC,18155,1.26,203.1,380.6,8.4,199,18163,0.00,2.78,0.00,0.000,4,0.000,0.061,2768,593,1894
$GC,18207,1.26,203.1,375.8,9.8,199,18216,0.00,2.65,0.00,0.000,6,0.000,0.038,2768,2015,1894
$GC,18639,1.26,203.1,340.4,8.1,202,18798,0.10,0.00,0.00,0.000,6,0.073,0.000,2790,2015,1894
$GC,19123,1.26,203.1,300.2,8.3,205,19277,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2015,1894
$GC,19602,1.26,203.1,260.7,8.2,214,19610,0.00,2.50,0.00,0.000,4,0.000,0.061,2790,3424,1894
$GC,19667,1.26,203.1,254.8,8.5,215,19676,0.00,2.45,0.00,0.000,6,0.000,0.043,2790,2008,1894
$GC,20004,1.26,210.7,229.2,7.7,224,20042,0.00,0.00,7.30,0.983,6,0.000,0.000,2790,2009,1857
$GC,20364,1.27,210.7,198.1,8.8,233,20403,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2009,1857
$GC,20725,1.27,210.7,169.2,8.2,242,20763,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2008,1857
$GC,21066,1.27,248.5,144.2,6.3,252,21100,0.00,2.83,28.80,0.851,4,0.000,0.058,2790,610,1703
$GC,21121,1.31,258.5,140.2,7.6,254,21136,0.00,2.67,7.80,0.876,6,0.000,0.037,2790,2007,1662
$GC,21450,1.32,258.5,113.8,8.1,271,21459,0.00,2.75,0.00,0.000,4,0.000,0.058,2790,603,1663
$GC,21518,1.32,258.5,107.8,8.7,274,21526,0.00,2.62,0.00,0.000,6,0.000,0.037,2790,2011,1663
$GC,21836,1.32,288.2,84.9,6.7,290,21866,0.00,2.88,22.62,0.802,4,0.000,0.055,2790,603,1542
$GC,21902,1.35,288.2,80.3,8.1,293,21910,0.00,2.65,0.00,0.000,6,0.000,0.037,2790,2011,1541
$GC,22227,1.35,306.0,57.4,7.2,309,22247,0.00,2.85,13.27,0.796,4,0.000,0.056,2791,604,1469
$GC,22285,1.37,306.0,53.0,8.5,311,22294,0.12,2.62,0.00,0.000,6,0.064,0.037,2818,2011,1469
$GC,22605,1.37,315.0,29.5,7.6,341,22616,0.00,2.53,6.38,0.811,4,0.000,0.054,2819,3406,1433
$GC,22725,1.38,324.5,20.2,7.6,352,22742,0.00,2.45,6.65,0.798,6,0.000,0.041,2819,2015,1393
$FINISH,1.0,1.024755,0
$SM_CCo,23032,0.00,0.000,0,0,1392,325.02
$TT8_MAMPS,0.026078
$HUMID,2169
$TCM_TEMP,5.00
$ALTIM_TOP_PING,0.0,0.0
$ALTIM_BOTTOM_PING,0.0,0.0
$24V_AH,23.2,54.629
$10V_AH,10.0,40.558
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,26.200,203.000,362.875,0.000,0.000,31.294,31.420,117.812,0.000,70.145,849.733,17386.021,2161.472,1839.104,1226.979,0.000,3332.426,0.000,1172.446,0.000,0.000
$DEVICE_MAMPS,171.041,66.729,1382.134,0.000,0.000,103.000,160.000,223.000,0.000,165.000,18.650,1.040,18.650,38.650,44.650,0.000,12.000,3.000,26.000,0.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,447.424,306.311,548.456,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,20697,375
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,221005,185557,5740.208,-14214.437,29,2.9,48,23.2